Although this board question is dated, I ran into the same issue trying to delete a task from a WBS which appeared to have no actuals charged against it but issued the same error message.
I found that even though the resource(s) attached to the task in question are showing "0" actuals, they infact are "zero" actuals and not "never submitted time" actuals.
At one point and time the resources in question charged time to the task, and even though they adjusted it after the fact, the 0 value is being treated as a posted actual.
I confirmed this by finding the adjusted timesheet for the resource in question.
It appears that the "Actual Thru Date" presence, or lack thereof, referenced in the origial post is what would indicate if it was an adjusted 0 value actual or if the 0 was in fact a "never submitted time" representation.
Once the resource charges time to the task the "Actual Thru Date" would populate, however, if the resource doesnt post time to the task it remains null.